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Tao, T. (author), Roy, Spandan (author), De Schutter, B.H.K. (author), Baldi, S. (author)In this work we propose a new practical synchronization protocol for multiple Euler Lagrange (EL) systems without structural linear-in-the-parameters (LIP) knowledge of the uncertainty and where the agents can be interconnected before control design by unknown state-dependent interconnection terms. This setting is meant to overcome two...journal article 2024
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Lv, Maolong (author), De Schutter, B.H.K. (author), Cao, Jinde (author), Baldi, S. (author)Practical tracking results have been reported in the literature for high-order odd-rational-power nonlinear dynamics (a chain of integrators whose power is the ratio of odd integers). Asymptotic tracking remains an open problem for such dynamics. This note gives a positive answer to this problem in the framework of prescribed performance...journal article 2023
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Delimpaltadakis, Giannis (author), Mazo, M. (author)Scheduling communication traffic in networks of event-triggered control (ETC) systems is challenging, as their sampling times are unknown, hindering application of ETC in networks. In previous work, finite-state abstractions were created, capturing the sampling behavior of linear time-invariant (LTI) ETC systems with quadratic triggering...journal article 2023
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Wang, Yixia (author), Lin, Shu (author), Wang, Yibing (author), De Schutter, B.H.K. (author), Xu, Jungang (author)Currently, with the development of driving technologies, driverless vehicles gradually are becoming more and more available. Therefore, there would be a long period of time during which self-driving vehicles and human-driven vehicles coexist. However, for a mixed platoon, it is hard to control the formation due to the existence of the manual...journal article 2023
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Reed, Robert (author), Laurenti, L. (author), Lahijanian, Morteza (author)Deep Kernel Learning (DKL) combines the representational power of neural networks with the uncertainty quantification of Gaussian Processes. Hence, it is potentially a promising tool to learn and control complex dynamical systems. In this letter, we develop a scalable abstraction-based framework that enables the use of DKL for control...journal article 2023
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van der Werf, Job (author), Kapelan, Z. (author), Langeveld, J.G. (author)Model Predictive Control (MPC) of combined sewer systems can reduce environmental degradation caused by uncontrolled overflows. However, practical uncertainties are often neglected when assessing the potential of MPC strategies. This paper aims to understand the risks associated with using a non-perfect internal MPC-model, real precipitation...journal article 2023
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Ning, Jinghua (author)Effective planning and control are crucial for the successful delivery of engineering, procurement, and construction (EPC) projects, which are characterized by complex organizational structures, interdependent activities, overlapping phases, and a large number of disciplines and participants. However, project uncertainty, including the lack of...master thesis 2022
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Zhang, Boyang (author), Sun, Xiuxia (author), Lv, Maolong (author), Liu, Shuguang (author), Li, Le (author)In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose dynamics are six-degree-of-freedom with twelf-state-variables...journal article 2022
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Baldi, S. (author), Roy, Spandan (author), Yang, Kang (author), Liu, Di (author)Effective design of autopilots for fixed-wing unmanned aerial vehicles (UAVs) is still a great challenge, due to unmodeled effects and uncertainties that these vehicles exhibit during flight. Unmodeled effects and uncertainties comprise longitudinal/lateral cross-couplings, as well as poor knowledge of equilibrium points (trimming points) of...journal article 2022
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Li, Peng (author), Liu, Di (author), Baldi, S. (author)Adaptive integral sliding mode control (AISMC) is an extension of adaptive sliding mode control which is a way to ensure sliding motion while handling system uncertainties. However, conventional AISMC formulations require to different extent a priori knowledge of the system uncertainty: either the upper bound of the uncertainty or of its time...journal article 2022
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Raja, A.A. (author), Grammatico, S. (author)In this article, we consider a sequence of transferable utility coalitional games, where the actual coalitional values are unknown but vary within known bounds. As a solution to the resulting family of games, we formalize the notion of 'robust core.' Our main contribution is to design two distributed algorithms, namely 1) distributed payoff...journal article 2022
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Scarabaggio, P. (author), Grammatico, S. (author), Carli, Raffaele (author), Dotoli, Mariagrazia (author)In this article, we propose a distributed demand-side management (DSM) approach for smart grids taking into account uncertainty in wind power forecasting. The smart grid model comprehends traditional users as well as active users (prosumers). Through a rolling-horizon approach, prosumers participate in a DSM program, aiming at minimizing...journal article 2022
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Sarafraz, Mohammad Saeed (author), Proskurnikov, Anton V. (author), Tavazoei, Mohammad Saleh (author), Mohajerin Esfahani, P. (author)In this article, we investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that are possibly nonlinear and the uncertainty of their linear parts is modeled element wise...journal article 2022
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Carli, Raffaele (author), Cavone, Graziana (author), Pippia, T.M. (author), De Schutter, B.H.K. (author), Dotoli, Mariagrazia (author)This paper focuses on the control of microgrids where both gas and electricity are provided to the final customer, i.e., multi-carrier microgrids. Hence, these microgrids include thermal and electrical loads, renewable energy sources, energy storage systems, heat pumps, and combined heat and power units. The parameters characterizing the...journal article 2022
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Wang, X. (author), Roy, Spandan (author), Fari, S. (author), Baldi, S. (author)The high maneuverability of fixed-wing unmanned aerial vehicles (UAVs) exposes these systems to several dynamical and parametric uncertainties, severely affecting the fidelity of modeling and causing limited guidance autonomy. This article shows enhanced autonomy via adaptation mechanisms embedded in the guidance law: a vector-field method is...journal article 2022
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Mészáros, A. (author), Franzese, G. (author), Kober, J. (author)This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even slightly flawed, particularly at moments when multiple aspects (i.e., end-effector movement,...journal article 2022
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Zhang, Q. (author), Pan, W. (author), Reppa, V. (author)This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional control method with reinforcement learning to enhance control accuracy and intelligence. In the proposed...journal article 2021
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Ye, J. (author), Roy, Spandan (author), Godjevac, Milinko (author), Reppa, V. (author), Baldi, S. (author)Construction crane vessels make use of dynamic positioning (DP) systems during the installation and removal of offshore structures to maintain the vessel's position. Studies have reported cases of instability of DP systems during offshore operation caused by uncertainties, such as mooring forces. DP “robustification” for heavy lift operations...journal article 2021
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Tao, T. (author), Roy, S. (author), Baldi, S. (author)Multi-area load frequency control (LFC) selects and controls a few generators in each area of the power system in an effort to dampen inter-area frequency oscillations. To effectively dampen such oscillations, it is required to enhance and lower the control activity dynamically during operation, so as to adapt to changing circumstances....journal article 2021
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Liu, Di (author), Baldi, S. (author), Jain, V. (author), Yu, Wenwu (author), Frasca, Paolo (author)Recently proposed adaptive platooning strategies for connected automated vehicles are able to cope with uncertain vehicle parameters (uncertain driveline time constants), but can handle only acyclic graphs like look-ahead graphs. This prevents from enhancing platooning protocols with synchronized merging maneuvers, where cyclic communication...journal article 2021
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